int main(int argc, char **argv) {
// argv[0] est le nom de la programme
// argv[1] est le premier argument passé au programme
// Get the data file name
std::string path;
if(argc>1)
path = argv[1];
else
{
std::cerr <<"Usage error : "<< argv[0] << "+ data folder name." << std::endl;
return 0;
}
std::cout << "Nom du chemin vers les données : ";
std::cout << path << std::endl;
Encoder * encoder = new Encoder();
struct timeval now ;
gettimeofday(&now,NULL);
double initTime = now.tv_sec + ((double)now.tv_usec)/1000000.0;
encoder->acquire();
encoder->flush(initTime);
//compute odometry
double L(0.529);
encoder->odometry(L);
encoder->save(path);
encoder->saveLeft(path);
encoder->saveRight(path);
encoder->saveSynchro(path);
encoder->saveRaw(path);
return 0;
}
void mexFunction( int nlhs, mxArray *plhs[],
int nrhs, const mxArray*prhs[] )
{
/* retrive arguments */
if( nrhs<4 )
mexErrMsgTxt("4 input arguments are required.");
if( nlhs!=1 )
mexErrMsgTxt("1 output arguments are required.");
// first argument : input array
int n = mxGetM(prhs[0]);
int p = mxGetN(prhs[0]);
if( p>1 )
mexErrMsgTxt("Works only for vector arrays.");
int dir = (int) *mxGetPr(prhs[1]);
double* x = mxGetPr(prhs[0]);
if( mxGetM(prhs[3])!=2 && mxGetN(prhs[3])!=2 )
mexErrMsgTxt("known_bounds must be of size 2.");
int known_size = (int) *mxGetPr(prhs[2]);
// lower and upper bounds on the int to code
int known_a = (int) mxGetPr(prhs[3])[0];
int known_b = (int) mxGetPr(prhs[3])[1];
bool coding_size = true;
if( known_size>0 ) // the decoder will know the size and provide it
coding_size = false;
bool coding_bounds = false;
if( known_a==known_b && known_b==-1 )
coding_bounds = true; // the decoder will not know the bounds and pr
// create encoderovide it
int capacity = HISTO_CAPACITY; // capacity of histogram for arithmetic coder
EscapeCoder* entropy = new EscapeCoder(capacity);
if( dir==1 )
{
// compute range of the data
int a = 1<<20, b = -(1<<20);
for( int i=0; i<n; ++i )
{
if( x[i]<a )
a = (int) x[i];
if( x[i]>b )
b = (int) x[i];
}
int subrange = b-a+1;
if( subrange>=HISTO_CAPACITY )
mexErrMsgTxt( "Too much symbols." );
// Open output file
ofstream outfile(filename, ios::out | ios::trunc | ios::binary);
if( !outfile )
mexErrMsgTxt("Cannot open file.");
// Create I/O interface object for arithmetic coder
Encoder* encoder = new Encoder( outfile );
// set the number of symbols
entropy->setNSym( subrange );
// code the size of the image and range
if( coding_size )
encoder->writePositive(n);
else if( known_size!=n )
mexErrMsgTxt("The provided size does not match the real size.");
if( coding_bounds )
encoder->writeInt(a);
else if( known_a>a )
mexErrMsgTxt("The provided bound does not match the real size.");
if( coding_bounds )
encoder->writeInt(b);
else if( known_b<b )
mexErrMsgTxt("The provided bound does not match the real size.");
// perform coding
for( int i=0; i<n; i++ )
{
// rescale to positive integers
int symbol = (int) (x[i]-a);
assert( symbol>=0 && symbol<subrange );
entropy->write(encoder, symbol, TRUE);
}
// finish encoding
encoder->flush();
delete encoder;
outfile.close();
// reopen output file
FILE* fin = fopen( filename, "rb" );
if( fin==NULL )
mexErrMsgTxt("Cannot open file.");
int nbr_bytes = 0;
// compute number of bytes
while( getc(fin)!=EOF )
nbr_bytes++;
fclose(fin);
// retrieve results in byte
fin = fopen( filename, "rb" );
plhs[0] = mxCreateNumericMatrix( nbr_bytes, 1, mxDOUBLE_CLASS, mxREAL );
double* y = mxGetPr( plhs[0] );
for( int i=0; i<nbr_bytes; ++i )
{
y[i] = (double) getc(fin);
}
fclose(fin);
}
else
{
// write data to a file byte by byte
FILE* fin = fopen( filename, "wb" );
if( fin==NULL )
mexErrMsgTxt("Cannot open file.");
for( int i=0; i<n; ++i )
{
char c = (char) x[i];
fwrite( &c, sizeof(char), 1, fin );
}
fclose(fin);
// open compressed image file
ifstream infile( filename, ios::in | ios::nocreate | ios::binary);
if( !infile )
error( "Unable to open file %s", filename );
// Create I/O interface object for arithmetic decoder
Decoder *decoder = new Decoder( infile );
// retrieve size of the data
int a, b;
if( coding_size )
n = decoder->readPositive();
else
n = known_size;
if( coding_bounds )
a = decoder->readInt();
else
a = known_a;
if( coding_bounds )
b = decoder->readInt();
else
b = known_b;
int subrange = b-a+1;
// set the number of symbols
entropy->setNSym( subrange );
// retrieve the data
plhs[0] = mxCreateNumericMatrix( n, 1, mxDOUBLE_CLASS, mxREAL );
double* y = mxGetPr( plhs[0] );
for( int i=0; i<n; ++i )
{
int symbol = entropy->read( decoder, TRUE );
assert( symbol<subrange && symbol >= 0);
y[i] = a + symbol;
}
}
}
